Abstract: The invention generates a correction signal for the command input to an automatic feedback control system or servomechanism used to control the torque, force, or tension acting upon an object or payload that is stationary or is moving relative to the motor housing. The correction signal is proportional to the sum of the torque acceleration and velocity errors. The "torque acceleration error" is the product of the inertia, referred to the motor shaft, and the motor acceleration. The "torque velocity error" is the product of the external damping factor acting on the motor shaft and the motor velocity. The correction is required when the steady state value of motor torque output is sensed and used for the negative feedback signal; this measurement is accomplished with relative ease.